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@@ -18,7 +18,7 @@ Manual-Easy:
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- [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
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The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
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- Altitude Cruise mode — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) are kept until the manual control link is regained or the mode is exited.
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It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
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It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
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- [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.
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Thrust is directly set by the pilot.
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Turn coordination is still handled by the controller.
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@@ -35,6 +35,7 @@ Manual-Acrobatic
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Autonomous:
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All autonomous flight modes require a valid position estimate (GPS).
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Airspeed is actively controlled if an airspeed sensor is installed in any autonomous flight mode.
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- [Hold](../flight_modes_fw/hold.md) — Vehicle circles around the GPS hold position at the current altitude.
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The mode can be used to pause a mission or to help regain control of a vehicle in an emergency.
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It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.
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@@ -24,6 +24,7 @@ Where possible, instead use [Return mode](../flight_modes_fw/return.md) with a p
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- The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
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:::
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## Technical Summary
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@@ -40,12 +41,12 @@ The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/
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Land mode behaviour can be configured using the parameters below.
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| Parameter | Description |
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| ----------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
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| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
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| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The flight path angle setpoint. |
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| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
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| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN.
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| Parameter | Description |
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| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ |
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| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
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| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The flight path angle setpoint. |
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| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
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| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN. |
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## See Also
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@@ -28,7 +28,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
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At high level all vehicle types behave in the same way when MISSION mode is engaged:
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1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
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- If flying the vehicle will loiter.
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- If landed the vehicle will "wait".
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@@ -163,9 +162,9 @@ Mission Items:
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- [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
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- [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
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- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
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- Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
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- Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
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Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
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- Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
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- Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
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Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
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GeoFence Definitions
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